CN118113028A

CN118113028A - Information service method, apparatus, device, storage medium, and program product for vehicle

Info

Publication number: CN118113028A
Application number: CN202211498768.7A
Authority: CN
Inventors: 韩双全; 鲍永; 李娟娟; 邓永强
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2024-05-31

Abstract

The present application relates to an information service method, apparatus, device, storage medium, and program product for a vehicle. The method comprises the following steps: receiving real-time sensing information of the road side sensing equipment, and sending the real-time sensing information to a cloud server, wherein the cloud server is used for mapping the real-time sensing information to a high-precision map to obtain a dynamic high-precision map; receiving a local dynamic map issued by a cloud server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server; receiving a vehicle end positioning of a vehicle; acquiring an initial planning path of the vehicle in the service range; and comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle. By adopting the method, the same-vehicle efficiency and the driving safety of the vehicles can be ensured.

Description

Information service method, apparatus, device, storage medium, and program product for vehicle

Technical Field

The present application relates to the field of vehicle driving technology, and in particular, to a vehicle information service method, apparatus, device, storage medium, and program product.

Background

It is important for an autonomous vehicle to be able to perceive ahead traffic in advance to travel on a safe path.

In the related art, a driving path and driving obstacle avoidance information are generated by acquiring vehicle condition information, road condition information, obstacle information and the like in an environment, and the driving obstacle avoidance information is distributed to corresponding functional modules in a vehicle to execute an obstacle avoidance function in the driving process, so that the vehicle can normally run.

However, the road-level vehicle condition information and road condition information are acquired in the related art, and the provided driving path is inaccurate, so that problems of influencing the passing efficiency and the passing safety exist.

Disclosure of Invention

In view of the foregoing, it is desirable to provide an information service method, apparatus, device, storage medium, and program product for a vehicle that can ensure vehicle-to-vehicle efficiency and driving safety.

In a first aspect, the present application provides an information service method for a vehicle, applied to an edge server, the method comprising:

Receiving real-time sensing information of the road side sensing equipment, and sending the real-time sensing information to a cloud server, wherein the cloud server is used for mapping the real-time sensing information to a high-precision map to obtain a dynamic high-precision map;

receiving a local dynamic map issued by a cloud server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server;

Receiving a vehicle end positioning of a vehicle;

Acquiring an initial planning path of the vehicle in the service range;

And comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

In one embodiment, obtaining an initial planned path of the vehicle at the service area includes:

receiving navigation information of a vehicle, the navigation information including destination information; and obtaining the initial planning path according to the navigation information and the service range.

In one embodiment, the comprehensive processing is performed on the vehicle end positioning, the local dynamic map, the initial planned path and the real-time perception information to obtain lane-level path planning information of the service range, including:

acquiring a static lane-level planning path according to lane vector line information in the high-precision map and the initial planning path; and obtaining the lane-level path planning information according to the static lane-level planning path, the vehicle end positioning and the local dynamic map.

In one embodiment, the obtaining the lane-level path planning information according to the static lane-level planning path, the vehicle end positioning and the local dynamic map includes:

When the local dynamic map contains a preset specific event and the specific event is in the static lane-level planning path, adjusting the static lane-level planning path based on the specific event to obtain the lane-level path planning information; and taking the static lane-level planning path as the lane-level path planning information under the condition that the local dynamic map does not contain the preset specific event.

In one embodiment, the specific event is a traffic accident, and the adjusting the static lane-level planned path based on the specific event includes: the static lane-level planned path is adjusted based on the current speed of the vehicle and the location of the traffic accident.

In a second aspect, the present application further provides an information service method of a vehicle, applied to a cloud server, where the method includes:

receiving real-time perception information of road side perception equipment sent by an edge server;

mapping the real-time sensing information to a high-precision map to obtain a dynamic high-precision map;

Based on the dynamic high-precision map, issuing a local dynamic map to the edge server; the local dynamic map corresponds to the service range of the edge server;

The edge server is used for receiving the vehicle end positioning of the vehicle, acquiring an initial planning path of the vehicle in the service range, comprehensively processing the initial planning path and the real-time sensing information according to the vehicle end positioning, the local dynamic map, the initial planning path and the real-time sensing information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

In a third aspect, the present application also provides an information service method for a vehicle, applied to the vehicle, the method comprising:

the vehicle end is sent to be positioned to an edge server;

Receiving lane-level path planning information corresponding to a service range of an edge server, which is sent by the edge server;

The lane-level path planning information is obtained by comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information by the edge server, wherein the initial planning path of the vehicle in the service range of the edge server is obtained by the edge server;

The real-time perception information is received by the edge server from road side perception equipment; the local dynamic map is obtained by mapping the real-time sensing information sent by the edge server to a high-precision map by the cloud server to obtain a dynamic high-precision map and issuing the local dynamic map to the edge server based on the dynamic high-precision map, wherein the local dynamic map corresponds to the service range of the edge server.

In a fourth aspect, the present application also provides an information service apparatus for a vehicle, applied to an edge server, the apparatus comprising:

the first receiving module is used for receiving real-time perception information of the road side perception equipment, sending the real-time perception information to the cloud server, and mapping the real-time perception information to the high-precision map by the cloud server to obtain a dynamic high-precision map;

the second receiving module is used for receiving the local dynamic map issued by the cloud server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server;

the third receiving module is used for receiving the vehicle end positioning of the vehicle;

the first acquisition module is used for acquiring an initial planning path of the vehicle in the service range;

And the comprehensive processing module is used for comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and transmitting the lane-level path planning information to the vehicle.

In one embodiment, the first obtaining module is specifically configured to: receiving navigation information of a vehicle, the navigation information including destination information; and obtaining the initial planning path according to the navigation information and the service range.

In one embodiment, the integrated processing module is specifically configured to:

In one embodiment, the specific event is a traffic accident, and the integrated processing module is specifically configured to: the static lane-level planned path is adjusted based on the current speed of the vehicle and the location of the traffic accident.

In a fifth aspect, the present application further provides an information service device for a vehicle, applied to a cloud server, where the device includes:

the receiving module is used for receiving real-time perception information of the road side perception equipment sent by the edge server;

The mapping module is used for mapping the real-time perception information to the high-precision map to obtain a dynamic high-precision map;

the issuing module is used for issuing a local dynamic map to the edge server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server;

In a sixth aspect, the present application also provides an information service apparatus for a vehicle, applied to the vehicle, the apparatus comprising:

The sending module is used for sending the vehicle end positioning to the edge server;

The receiving module is used for receiving lane-level path planning information corresponding to the service range of the edge server, which is sent by the edge server;

In a seventh aspect, the present application also provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the method of any one of the first to third aspects when the computer program is executed.

In an eighth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the first to third aspects above.

In a ninth aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of the method of any of the first to third aspects.

According to the information service method, the device, the equipment, the storage medium and the program product of the vehicle, the edge server sends the real-time perception information to the cloud server by receiving the real-time perception information of the road side perception equipment, so that the cloud server maps the real-time perception information to the high-precision map to obtain the dynamic high-precision map; therefore, the edge server can receive the local dynamic map which is issued by the cloud server based on the dynamic high-precision map and corresponds to the service range of the edge server; the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information are comprehensively processed by receiving the vehicle end positioning of the vehicle and acquiring the initial planning path of the vehicle in the service range, lane-level path planning information corresponding to the service range is obtained, and the lane-level path planning information is sent to the vehicle to execute driving tasks. In this way, the real-time perception information of the real-time event is considered in the path planning of the vehicle, so that the automatic driving vehicle can safely drive according to the planned path, and more accurate path planning can be provided for the vehicle due to the fact that the lane-level path planning information aiming at the destination of the target vehicle is generated, so that the driving efficiency and the traffic safety are improved. The traffic information is changed instantaneously because the real-time performance of the global path planning is weaker, and the embodiment of the application provides the lane-level path planning information of the service range corresponding to the edge server, so that the vehicles can be effectively ensured to acquire the highly reliable lane-level path planning information in time with low time delay.

Drawings

FIG. 1 is an application environment diagram of an information service method of a vehicle in one embodiment;

FIG. 2 is a flow chart of a method of information service of a vehicle in one embodiment;

FIG. 3 is a flow diagram of an embodiment for obtaining an initial planned path;

FIG. 4 is a flow diagram of generating lane-level path planning information in one embodiment;

FIG. 5 is a schematic view of a road environment in one embodiment;

FIG. 6 is a flow chart of another method of information service of a vehicle in one embodiment;

FIG. 7 is a flow chart of another method of information service of a vehicle in one embodiment;

FIG. 8 is a block diagram showing the structure of an information service apparatus of a vehicle in one embodiment;

FIG. 9 is a block diagram showing the structure of an information service apparatus of another vehicle in one embodiment;

FIG. 10 is a block diagram showing an information service apparatus of another vehicle in one embodiment;

FIG. 11 is an internal block diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

For an automatic driving vehicle, the possibility of accidents can be greatly reduced by sensing the traffic condition in front in advance, so that the traffic safety is ensured, and the traffic efficiency is improved.

In the related art, vehicle condition information, road condition information, barrier information, network interaction information acquired by a vehicle wireless communication module and information processing module are acquired by a sensing module, driving obstacle avoidance information of a self-vehicle is calculated and generated, and the driving obstacle avoidance information is distributed to corresponding functional modules to execute obstacle avoidance capability of the self-vehicle so as to dynamically adjust driving obstacle avoidance strategies of the self-vehicle and assist in adjusting driving obstacle avoidance strategies of other vehicles. However, such road-level vehicle condition information and road condition information cannot meet the information requirements of the automatic driving lane level and provide real-time positioning and planning capabilities.

In view of the above, the embodiment of the application provides an information service method for a vehicle, which provides more accurate lane-level path planning information for the vehicle, improves driving efficiency and ensures traffic safety.

The information service method of the vehicle provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The edge server 101 is communicatively connected to the cloud server 102 and the vehicle 103. The edge server 101 receives real-time perception information of the road side perception device, and sends the real-time perception information to the cloud server 102. The cloud server 102 maps the real-time sensing information to the high-precision map to obtain a dynamic high-precision map, and issues a local dynamic map to the edge server 101 based on the dynamic high-precision map. The edge server 101 may receive the end-of-vehicle position location sent by the vehicle 103. The edge server 101 performs comprehensive processing on the vehicle end positioning, the local dynamic map, the initial planned path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and sends the lane-level path planning information to the vehicle 103. Alternatively, the edge server 101 and the road side sensing device may together form a road side base station, which may communicate with the cloud server 102 and the vehicle 103. Alternatively, the edge server 101 and the cloud server 102 may be implemented as separate servers or a server cluster formed by a plurality of servers. The vehicle 103 may be various types of non-autonomous vehicles or autonomous vehicles such as a car, an automobile, a passenger car, a trailer, etc., which is not particularly limited in the embodiment of the present application.

In one embodiment, as shown in fig. 2, there is provided an information service method of a vehicle, which is described by taking an example that the method is applied to the edge server 101 in fig. 1, and includes the following steps:

step 201, receiving real-time sensing information of the road side sensing device, and sending the real-time sensing information to the cloud server.

The road side sensing device may include sensing units such as an image capturing device and a radar device, where the radar device may be a laser radar (lidar) and a radar (radar) of different types, and the radar may be a millimeter wave radar, for example, which is not limited in particular in the embodiment of the present application. Alternatively, the edge server may be a MEC (Mobile Edge Computing ) module.

Optionally, the road side sensing devices and the edge server may be set together in the same preset service range. From the global perspective, the global may be provided with multiple sets of roadside awareness devices and corresponding edge servers. After the vehicle enters different service ranges, the road side sensing equipment corresponding to the service range acquires real-time sensing information corresponding to the service range, and sends the real-time sensing information to the corresponding edge servers of the same group for lane-level path planning.

Accordingly, the real-time perception information may include dynamic traffic information (e.g., traffic congestion information, traffic accident information, etc.) acquired by the road side perception device, and the like. It is understood that the traffic image data or video data acquired by the image pickup device and the road information acquired by the radar and the lidar together constitute the dynamic traffic information.

After receiving the real-time sensing information, the cloud server can map the real-time sensing information to a high-precision map to obtain a dynamic high-precision map.

Optionally, the cloud server may perform pose matching on the real-time sensing information and the static high-precision map to synthesize the dynamic high-precision map. Optionally, the acquisition vehicle can acquire the target area based on the SLAM technology to obtain an initial map, and the cloud server performs post labeling, calibration and other processes on the initial map to obtain the static high-precision map. The SLAM technology refers to simultaneous positioning and map creation, that is, a process of creating a map in a completely unknown environment while using the map for autonomous positioning and navigation under the condition that the robot is uncertain in position.

It can be understood that the cloud server can receive the real-time sensing information sent by each edge server of the whole domain, and map the real-time sensing information to the high-precision map to obtain the dynamic high-precision map of the whole domain.

Step 202, receiving a local dynamic map issued by a cloud server based on the dynamic high-precision map. Wherein the local dynamic map corresponds to a service range of the edge server.

The cloud server can acquire a service range corresponding to the edge server, and optionally, the service range can be represented by geographic region range information, and the edge server sends the service range corresponding to the edge server to the cloud server in real time so as to acquire a corresponding local dynamic map. Or alternatively, the cloud server may record the service range corresponding to each edge server in advance.

And the cloud server acquires the dynamic high-precision map corresponding to the service range as a local dynamic map corresponding to the edge server after receiving the real-time perception information sent by the edge server, so as to send the local dynamic map to the edge server. Optionally, the cloud server may also synchronously send a local static map corresponding to the service range to the edge server.

Step 203, receiving a vehicle end position of the vehicle.

In the vehicle, an On Board Unit (OBU) may be installed, and a Road Side Unit (RSU) may be installed within a service range of the edge server. The OBU and the RSU can perform data interaction based on a V2X (vehicle to everything) technology and information exchange between vehicles and the outside. The RSU may communicate with an edge server.

The positioning component in the vehicle can acquire the position information of the vehicle, send the position information as a vehicle end positioning to the RSU through the OBU, and then send the vehicle end positioning to the edge server by the RSU. Alternatively, the positioning component is, for example, a GPS global positioning device or the like.

Optionally, sensing units such as image capturing equipment, radar, laser radar and the like can be further installed in the vehicle, the vehicle obtains environment sensing information through each sensing unit, the environment sensing information is sent to the RSU through the OBU, and the RSU sends environment sensing information corresponding to the vehicle to the edge server.

Optionally, the edge server can match the vehicle end positioning and the environment sensing information of the vehicle with a local static map to obtain more accurate latest positioning information of the vehicle, and the latest positioning information can be used as the vehicle end positioning; optionally, the edge cloud server may also send the latest positioning information to the vehicle for the vehicle to reference its current location.

Step 204, obtaining an initial planning path of the vehicle in the service range.

In order to quickly generate a lane-level path of a vehicle in the service range, in the embodiment of the application, an initial planning path of the vehicle in the service range can be acquired, and lane-level path planning information can be quickly obtained based on the initial planning path. Alternatively, the initial planned path may be derived based on navigation information of the vehicle from the origin to the destination.

And 205, comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and transmitting the lane-level path planning information to the vehicle.

The local dynamic map is a local dynamic high-precision map, and comprises accurate information such as point cloud data of each building and vehicle in a service range, lane vector line data of each lane and the like. The real-time sensing information is dynamic traffic information obtained by the road side sensing equipment in real time, and the vehicle end positioning reflects the accurate position of the vehicle. The initial planning path provides a preliminary vehicle-type path, so that the embodiment of the application can acquire lane-level path planning information of the vehicle in the service range by comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time sensing information. The vehicle can accurately and safely run in the service range according to the lane-level path planning information.

In the information service method of the vehicle, the edge server sends the real-time perception information to the cloud server by receiving the real-time perception information of the road side perception equipment, so that the cloud server maps the real-time perception information to the high-precision map to obtain the dynamic high-precision map; therefore, the edge server can receive the local dynamic map which is issued by the cloud server based on the dynamic high-precision map and corresponds to the service range of the edge server; the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information are comprehensively processed by receiving the vehicle end positioning of the vehicle and acquiring the initial planning path of the vehicle in the service range, lane-level path planning information corresponding to the service range is obtained, and the lane-level path planning information is sent to the vehicle to execute driving tasks. In this way, the real-time perception information of the real-time event is considered in the path planning of the vehicle, so that the automatic driving vehicle can safely drive according to the planned path, and more accurate path planning can be provided for the vehicle due to the fact that the lane-level path planning information aiming at the destination of the target vehicle is generated, so that the driving efficiency and the traffic safety are improved. The traffic information is changed instantaneously because the real-time performance of the global path planning is weaker, and the embodiment of the application provides the lane-level path planning information of the service range corresponding to the edge server, so that the vehicles can be effectively ensured to acquire the highly reliable lane-level path planning information in time with low time delay.

In one embodiment, please refer to fig. 3, which illustrates a flowchart of acquiring an initial planned path according to an embodiment of the present application. Acquiring an initial planned path of a vehicle in a service range, comprising:

In step 301, navigation information of a vehicle is received, the navigation information including destination information.

Step 302, obtaining an initial planning path according to the navigation information and the service range.

Alternatively, a navigation application may be installed in the vehicle, and the vehicle may acquire destination information input by a user and acquire current location information of the vehicle. The vehicle obtains navigation information from the current location to the destination based on the navigation application. The navigation information may provide road-level route planning information for the vehicle.

The vehicle may send navigation information to the RSU via the OBU, which sends the navigation information to the edge server. And the edge server analyzes the navigation information to obtain the destination information contained in the navigation information.

Correspondingly, the edge server can match the service range with the navigation information so as to obtain an initial planning path, wherein the initial planning path comprises the navigation information of the vehicle in the service range, and the initial planning path can further comprise the path planning information of the road level of the vehicle in the service range, the indication information of the driving distance and the driving direction and the like.

According to the embodiment of the application, the edge server receives the navigation information of the vehicle, so that an initial planning path is obtained according to the navigation information and the service range corresponding to the edge server, and based on the initial planning path, the final lane-level path planning information can be more accurately and efficiently obtained, so that the driving efficiency and the driving safety of the vehicle in the service range are ensured.

The procedure of generating lane-level path planning information corresponding to the service range by the edge server will be described below.

Fig. 4 is a schematic flow chart of generating lane-level path planning information according to an embodiment of the present application. Comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information of a service range, wherein the method comprises the following steps:

And step 401, acquiring a static lane-level planning path according to lane vector line information and the initial planning path in the high-precision map.

The cloud server may obtain a high-precision map, and optionally, the high-precision map may be a dynamic high-precision map or a static high-precision map. The high-precision map comprises lane vector line information of each lane, and optionally, the lane vector line information can comprise a plurality of lane track points on the corresponding lane.

It can be understood that the edge server can acquire lane vector line information of each road in the initial planning path in the high-precision map, so that the lane vector line information of each lane in each road can be determined to obtain the static lane-level planning path.

As described above, the initial planned path is determined according to the navigation information and the service range, and optionally, in the embodiment of the present application, the static lane-level planned path may also be determined directly according to the lane vector information and the navigation information in the high-precision map.

And step 402, obtaining lane-level path planning information according to the static lane-level planning path, the vehicle end positioning and the local dynamic map.

Based on the vehicle end location, the location of the vehicle in the local dynamic map may be determined. And the static lane-level planning path is combined with the vehicle position and the local dynamic map to obtain dynamic lane-level path planning information.

After determining the lane-level path planning information, the edge server may send the lane-level path planning information to the vehicle-end OBU through the RSU, so that the vehicle drives based on the lane-level path planning information.

In the embodiment of the application, the static lane-level planning path is acquired according to the lane vector line information and the initial planning path in the high-precision map, and more accurate lane-level path planning information is obtained based on the static lane-level planning path, the vehicle end positioning and the local dynamic map.

The process of determining lane-level path planning information based on a static lane-level planning path, end-of-vehicle positioning, and a local dynamic map will be described below.

In one embodiment, obtaining lane-level path planning information from a static lane-level planning path, end-of-vehicle positioning, and a local dynamic map includes: and under the condition that the local dynamic map comprises a preset specific event and the specific event is in the static lane-level planning path, adjusting the static lane-level planning path based on the specific event to obtain lane-level path planning information. And taking the static lane-level planning path as lane-level path planning information under the condition that the local dynamic map does not contain a preset specific event.

The local dynamic map contains a specific event, and the specific event is in the static lane-level planning path, which means that factors influencing normal driving of the vehicle appear in the service range of the edge server in the driving process of the vehicle according to the static lane-level planning path. If the vehicle runs directly according to the static lane-level planning path, the vehicle cannot normally pass when driving to a place where a specific event occurs, and the running efficiency is affected.

Therefore, in the embodiment of the application, when the local dynamic map contains a preset specific event under the static lane-level planning path, the static lane-level planning path can be adjusted based on the specific event to obtain the lane-level path planning information.

Alternatively, the adjusting process may be: determining a geographical area range in which the particular event occurs and determining a plurality of other candidate paths from the current location to the destination; and removing candidate paths passing through the geographical area range where the specific event occurs from the plurality of candidate paths, selecting a target path from the rest candidate paths, and obtaining new lane-level path planning information capable of reaching the destination based on the target path.

Correspondingly, if the local dynamic map does not contain a preset specific event, the vehicle can normally run in the service range corresponding to the edge server according to the current static lane-level planning path, so that the static lane-level planning path can be directly used as lane-level path planning information for the vehicle.

In the embodiment of the application, whether the static lane-level planning path needs to be adjusted is further determined by determining whether the local dynamic map contains the preset specific event and whether the specific event is in the static lane-level planning path, so that more accurate lane-level path planning information is obtained. Therefore, the vehicle can normally run within the range of the edge server and cannot be interfered by other events, and the driving safety and the driving efficiency are ensured.

In one embodiment, the specific event is a traffic accident, and the adjusting process for the static lane-level planned path based on the specific event includes: based on the current speed of the vehicle and the location of the traffic accident, a static lane-level planning path is adjusted.

The traffic accidents are, for example, accidents such as road construction, road congestion or road forbidden traffic, and the embodiment of the application does not limit the traffic accidents specifically, and the accidents affecting the normal running of the vehicles can be considered as traffic accidents. Optionally, the edge server may determine whether a traffic accident occurs in the local dynamic map based on the real-time perception information sent by the road side perception device.

Optionally, in the embodiment of the present application, when a traffic accident occurs in the static lane-level planning path, the edge server may acquire a current speed of the vehicle, determine a geographical location range of the traffic accident from the local dynamic map, and based on this, generate a new static lane-level planning path of the vehicle in the service range according to lane information of each lane in the local dynamic map, so as to implement adjustment of the static lane-level planning path.

In the embodiment of the application, the static lane-level planning path is adjusted based on the current speed of the vehicle and the position of the traffic accident, so that the vehicle can normally run in the service range corresponding to the edge server, and the running efficiency is ensured.

In one embodiment, a method for a base station to provide vehicle autopilot positioning and planning is provided. The method may be applied in a road environment as shown in fig. 5. The method comprises the following steps:

And sensing units such as cameras, radars, lidars and the like on the road side base stations capture dynamic traffic information in real time, and the captured dynamic traffic information is fed back to the mobile edge to calculate MEC. The dynamic traffic information comprises road congestion conditions, traffic accident conditions and the like.

Meanwhile, the MEC sends the dynamic traffic information to a cloud server, and the cloud server generates a local dynamic high-precision map after data processing and sends the local dynamic high-precision map to the MEC.

The process of generating the local dynamic high-precision map by the cloud server comprises the following steps: the cloud server acquires the static map through SLAM technology, and performs back-end processing such as labeling and calibration to generate a static high-precision map; and after receiving the dynamic traffic information sent by the MEC, the cloud server performs pose matching on the dynamic traffic information and the static high-precision map to synthesize a global dynamic high-precision map, and issues a local dynamic high-precision map corresponding to the signal coverage of the road side base station to the MEC based on the global dynamic high-precision map.

After an automatic driving vehicle provided with an on-board unit OBU enters the signal range of a road side base station, the vehicle sends current position information of the vehicle, environment sensing information acquired by equipment such as a camera and a radar, and vehicle end sensing information such as destination information to an RSU in the road side base station based on V2X, and the RSU sends all the information to an MEC.

The MEC matches the vehicle end sensing information with a pre-stored static high-precision map sent by the cloud server, and the vehicle positioning information is obtained through matching. Meanwhile, the MEC utilizes destination information in the received vehicle end perception information to determine a static lane-level planning path through high-precision vector line information and navigation information in the static high-precision map. The navigation information refers to driving instruction information that the vehicle arrives at the destination from the current position.

Furthermore, the MEC can obtain a dynamic lane-level planning path based on the static lane-level planning path and combining the positioning information of the vehicle and the local dynamic high-precision map.

If there is no scene such as a traffic accident in the local dynamic high-precision map, the MEC sends the static lane-level planned path to the vehicle for driving. If a traffic accident occurs in a lane in a static lane-level planning path of the local dynamic high-definition map, the MEC acquires lane information of lanes in other passable roads according to the local dynamic map, appropriately adjusts the static lane-level planning path based on the lane information of the lanes in the other roads to obtain a dynamic lane-level planning path, and issues the dynamic lane-level planning path to a vehicle for running.

Therefore, the MEC can transmit the lane-level local dynamic map with real-time dynamic information, lane-level position information and lane-level planning path to the vehicle for automatic driving or path planning through the RSU.

In the embodiment of the application, the local dynamic high-precision map, the lane-level position information and the lane-level planning information generated by the environment sensing equipment of the road side base station and the cloud server are transmitted to the vehicle provided with the V2X equipment to carry out automatic driving or path planning, and the traffic condition in the lane-level planning path is identified, so that the traffic condition in front can be sensed in advance, the possibility that the vehicle has accidents or encounters accidents in the signal coverage range of the road side base station is greatly reduced, the driving safety is ensured, and the traffic efficiency is improved.

In one embodiment, as shown in fig. 6, another information service method of a vehicle is provided, and the method may be applied to the cloud server 102 in fig. 1, and the method includes:

and step 601, receiving real-time perception information of the road side perception device sent by the edge server.

And step 602, mapping the real-time perception information to a high-precision map to obtain a dynamic high-precision map.

Step 603, issuing a local dynamic map to the edge server based on the dynamic high-precision map.

The local dynamic map corresponds to the service range of the edge server; the edge server is used for receiving the vehicle end positioning of the vehicle, acquiring an initial planning path of the vehicle in the service range, comprehensively processing the initial planning path and the real-time perception information according to the vehicle end positioning, the local dynamic map, so as to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the information service method of the vehicle implemented by taking the edge server as the execution main body, so the specific limitation in the embodiment of the application can be referred to the limitation of the information service method of the vehicle implemented by taking the edge server as the execution main body, and the description is omitted here.

In one embodiment, as shown in fig. 7, another information service method of a vehicle is provided, which is applicable to the vehicle 103 in fig. 1, and includes:

in step 701, a sending vehicle end locates to an edge server.

Step 702, receiving lane-level path planning information corresponding to a service range of an edge server sent by the edge server.

The lane-level path planning information is obtained by comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information by acquiring an initial planning path of the vehicle in the service range of the edge server by the edge server; the real-time perception information is received by the edge server from the road side perception device; the local dynamic map is obtained by mapping the cloud server to the high-precision map according to the real-time sensing information sent by the edge server to obtain the dynamic high-precision map and sending the local dynamic map to the edge server based on the dynamic high-precision map, wherein the local dynamic map corresponds to the service range of the edge server.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides an information service device of the vehicle for realizing the information service method of the vehicle. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the information service device for one or more vehicles provided below may be referred to the limitation of the information service method for the vehicle hereinabove, and will not be repeated herein.

In one embodiment, as shown in fig. 8, an information service apparatus of a vehicle is provided. The information service apparatus 800 of the vehicle is applied to the edge server 101 in fig. 1, and includes: a first receiving module 801, a second receiving module 802, a third receiving module 803, a first obtaining module 804, and a comprehensive processing module 805, wherein:

The first receiving module 801 is configured to receive real-time sensing information of the roadside sensing device, send the real-time sensing information to a cloud server, and map the real-time sensing information to a high-precision map to obtain a dynamic high-precision map;

The second receiving module 802 is configured to receive a local dynamic map issued by the cloud server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server;

a third receiving module 803 for receiving a vehicle end positioning of the vehicle;

A first obtaining module 804, configured to obtain an initial planned path of the vehicle in a service range;

The comprehensive processing module 805 is configured to perform comprehensive processing on the vehicle end positioning, the local dynamic map, the initial planned path, and the real-time perception information, obtain lane-level path planning information corresponding to the service range, and send the lane-level path planning information to the vehicle.

In one embodiment, the first obtaining module 804 is specifically configured to: receiving navigation information of a vehicle, wherein the navigation information comprises destination information; and obtaining an initial planning path according to the navigation information and the service range.

In one embodiment, the integrated processing module 805 is specifically configured to:

Acquiring a static lane-level planning path according to lane vector line information and an initial planning path in a high-precision map; and obtaining lane-level path planning information according to the static lane-level planning path, the vehicle end positioning and the local dynamic map.

When the local dynamic map contains a preset specific event and the specific event is in a static lane-level planning path, adjusting the static lane-level planning path based on the specific event to obtain lane-level path planning information; and taking the static lane-level planning path as lane-level path planning information under the condition that the local dynamic map does not contain a preset specific event.

In one embodiment, the specific event is a traffic accident, and the integrated processing module 805 is specifically configured to: based on the current speed of the vehicle and the location of the traffic accident, a static lane-level planning path is adjusted.

In one embodiment, as shown in fig. 9, there is provided an information service apparatus of another vehicle. The information service apparatus 900 of the vehicle is applied to the cloud server 102 in fig. 1, and includes: a receiving module 901, a mapping module 902 and a transmitting module 903, wherein:

the receiving module 901 is configured to receive real-time sensing information of a road side sensing device sent by an edge server;

the mapping module 902 is configured to map the real-time sensing information to a high-precision map to obtain a dynamic high-precision map;

The issuing module 903 is configured to issue a local dynamic map to the edge server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server; the edge server is used for receiving the vehicle end positioning of the vehicle, acquiring an initial planning path of the vehicle in the service range, comprehensively processing the initial planning path and the real-time sensing information according to the vehicle end positioning, the local dynamic map, the initial planning path and the real-time sensing information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

In one embodiment, as shown in fig. 10, there is provided an information service apparatus of another vehicle. The information service apparatus 1000 of the vehicle is applied to the vehicle 103 in fig. 1, and includes: a transmitting module 1001 and a receiving module 1002, wherein:

a sending module 1001, configured to send the vehicle end location to an edge server;

A receiving module 1002, configured to receive lane-level path planning information corresponding to a service range of an edge server sent by the edge server; the lane-level path planning information is obtained by comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information by the edge server, wherein the initial planning path of the vehicle in the service range of the edge server is obtained by the edge server; the real-time perception information is received by the edge server from road side perception equipment; the local dynamic map is obtained by mapping the real-time sensing information sent by the edge server to a high-precision map by the cloud server to obtain a dynamic high-precision map and issuing the local dynamic map to the edge server based on the dynamic high-precision map, wherein the local dynamic map corresponds to the service range of the edge server.

Each module in the information service apparatus of each vehicle described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 11. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing information service device data of the vehicle. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a method of an information service apparatus of a vehicle.

It will be appreciated by those skilled in the art that the structure shown in FIG. 11 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:

Receiving real-time sensing information of the road side sensing equipment, and sending the real-time sensing information to a cloud server, wherein the cloud server is used for mapping the real-time sensing information to a high-precision map to obtain a dynamic high-precision map; receiving a local dynamic map issued by a cloud server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server; receiving a vehicle end positioning of a vehicle; acquiring an initial planning path of the vehicle in the service range; and comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

In one embodiment, the processor when executing the computer program further performs the steps of: receiving navigation information of a vehicle, the navigation information including destination information; and obtaining the initial planning path according to the navigation information and the service range.

In one embodiment, the processor when executing the computer program further performs the steps of: acquiring a static lane-level planning path according to lane vector line information in the high-precision map and the initial planning path; and obtaining the lane-level path planning information according to the static lane-level planning path, the vehicle end positioning and the local dynamic map.

In one embodiment, the processor when executing the computer program further performs the steps of: when the local dynamic map contains a preset specific event and the specific event is in the static lane-level planning path, adjusting the static lane-level planning path based on the specific event to obtain the lane-level path planning information; and taking the static lane-level planning path as the lane-level path planning information under the condition that the local dynamic map does not contain the preset specific event.

In one embodiment, the processor when executing the computer program further performs the steps of: the static lane-level planned path is adjusted based on the current speed of the vehicle and the location of the traffic accident.

In one embodiment, the processor when executing the computer program further performs the steps of: receiving real-time perception information of road side perception equipment sent by an edge server; mapping the real-time sensing information to a high-precision map to obtain a dynamic high-precision map; based on the dynamic high-precision map, issuing a local dynamic map to the edge server; the local dynamic map corresponds to the service range of the edge server; the edge server is used for receiving the vehicle end positioning of the vehicle, acquiring an initial planning path of the vehicle in the service range, comprehensively processing the initial planning path and the real-time sensing information according to the vehicle end positioning, the local dynamic map, the initial planning path and the real-time sensing information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

In one embodiment, the processor when executing the computer program further performs the steps of: the vehicle end is sent to be positioned to an edge server; receiving lane-level path planning information corresponding to a service range of an edge server, which is sent by the edge server; the lane-level path planning information is obtained by comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information by the edge server, wherein the initial planning path of the vehicle in the service range of the edge server is obtained by the edge server; the real-time perception information is received by the edge server from road side perception equipment; the local dynamic map is obtained by mapping the real-time sensing information sent by the edge server to a high-precision map by the cloud server to obtain a dynamic high-precision map and issuing the local dynamic map to the edge server based on the dynamic high-precision map, wherein the local dynamic map corresponds to the service range of the edge server.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. An information service method of a vehicle, applied to an edge server, the method comprising:

receiving real-time sensing information of a road side sensing device, and sending the real-time sensing information to a cloud server, wherein the cloud server is used for mapping the real-time sensing information to a high-precision map to obtain a dynamic high-precision map;

Receiving a vehicle end positioning of a vehicle;

acquiring an initial planning path of the vehicle in the service range;

2. The method of claim 1, wherein the obtaining an initial planned path of the vehicle at the service area comprises:

Receiving navigation information of a vehicle, wherein the navigation information comprises destination information;

And obtaining the initial planning path according to the navigation information and the service range.

3. The method of claim 1, wherein the comprehensively processing the vehicle end positioning, the local dynamic map, the initial planned path, and the real-time awareness information to obtain lane-level path planning information for the service range comprises:

acquiring a static lane-level planning path according to lane vector line information in a high-precision map and the initial planning path;

and obtaining the lane-level path planning information according to the static lane-level planning path, the vehicle end positioning and the local dynamic map.

4. A method according to claim 3, wherein said deriving said lane-level path planning information from said static lane-level planning path, said end-of-vehicle positioning and said local dynamic map comprises:

when the local dynamic map contains a preset specific event and the specific event is in the static lane-level planning path, adjusting the static lane-level planning path based on the specific event to obtain the lane-level path planning information;

And taking the static lane-level planning path as the lane-level path planning information under the condition that the local dynamic map does not contain the preset specific event.

5. The method of claim 4, wherein the particular event is a traffic accident, and the adjusting the static lane-level planned path based on the particular event comprises:

The static lane-level planned path is adjusted based on the current speed of the vehicle and the location of the traffic accident.

6. An information service method of a vehicle, which is applied to a cloud server, the method comprising:

mapping the real-time perception information to a high-precision map to obtain a dynamic high-precision map;

Issuing a local dynamic map to the edge server based on the dynamic high-precision map; the local dynamic map corresponds to the service range of the edge server;

The edge server is used for receiving the vehicle end positioning of the vehicle, acquiring an initial planning path of the vehicle in the service range, comprehensively processing the initial planning path and the real-time perception information according to the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

7. An information service method of a vehicle, characterized by being applied to a vehicle, the method comprising:

the vehicle end is sent to be positioned to an edge server;

receiving lane-level path planning information corresponding to a service range of an edge server, wherein the lane-level path planning information is sent by the edge server;

the lane-level path planning information is obtained by the edge server obtaining an initial planning path of the vehicle in a service range of the edge server and comprehensively processing the vehicle end positioning, a local dynamic map, the initial planning path and real-time perception information;

The real-time perception information is received by the edge server from road side perception equipment; the local dynamic map is obtained by mapping the cloud server to a high-precision map according to the real-time perception information sent by the edge server to obtain a dynamic high-precision map, and issuing the local dynamic map to the edge server based on the dynamic high-precision map, wherein the local dynamic map corresponds to the service range of the edge server.

8. An information service apparatus of a vehicle, applied to an edge server, comprising:

The first receiving module is used for receiving real-time perception information of the road side perception equipment, sending the real-time perception information to the cloud server, and mapping the real-time perception information to a high-precision map by the cloud server to obtain a dynamic high-precision map;

And the comprehensive processing module is used for comprehensively processing the vehicle end positioning, the local dynamic map, the initial planning path and the real-time perception information to obtain lane-level path planning information corresponding to the service range, and sending the lane-level path planning information to the vehicle.

9. An information service apparatus for a vehicle, applied to a cloud server, the apparatus comprising:

the mapping module is used for mapping the real-time perception information to a high-precision map to obtain a dynamic high-precision map;

10. An information service apparatus of a vehicle, characterized by being applied to a vehicle, the apparatus comprising:

11. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 7 when the computer program is executed.

12. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.

13. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.